Abstract
A more extensive bilateral control system for manipulators with different configurations and different degrees of freedom is discussed. In the process of coordinate transformations the concept of the common space is introduced. Since the directly operatable area is a subspace of the common space, the principle of the system is that the motion of each manipulator should be considered in this subspace. The results of the basic experiments will be shown to demonstrate the feasibility of the proposed system.
| Original language | English |
|---|---|
| Pages | 303-310 |
| Number of pages | 8 |
| Publication status | Published - 1985 |
| Externally published | Yes |